• Journal of Institute of Control, Robotics and Systems
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• v.19 no.2
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• pp.102-106
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• 2013

A cooperative navigation method for cooperative flight of UAVs is proposed. The commonly used navigation method for UAVs is based on GNSS measurements. However, when it is not available by jamming or other causes, an alternative method is needed. In this paper, it is shown that UAVs equipped with inertial sensors, passive sensor and wireless communication link can perform accurate navigation through sharing information with each other. Firstly, the appropriate roles for sensors and wireless communication link are assigned. Secondly, a filter to perform navigation cooperative is constructed. Finally, the boundedness of estimation error of the filter under small initial estimation error is analyzed. The simulation results show that the proposed method can reduce navigation errors effectively.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.3
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• pp.293-299
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• 2009

This paper discusses an autonomous navigation system for urban environments. For the localization of the robot, EKF (Extended Kalman Filter) algorithm is used with odometry, angle sensor, and DGPS (Differential Global Positioning System) measurement. Especially in an urban environment, DGPS is often blocked by buildings and trees and the resulting inaccurate positioning prevents the robot from safe and reliable navigation. In addition to the global information from DGPS, the local information of the curb on the roadway is used to track a route when the global DGPS information is inaccurate. For this purpose, curb detection algorithm is developed and implemented in the developed navigation algorithm. Four different types of navigation strategies are developed and they are switched to adapt to different localization conditions according to the availability of DGPS and the existence of the curbs on the roadway. The experimental results show that the designed switching strategy improves the navigation performance adapting to the environment conditions.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.8
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• pp.810-815
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• 2010

This paper proposes a vision/DR integrated navigation system using distance between wheels of the vehicle and a gyroscope. In order to show the validity of the proposed vision/DR integrated navigation system, experiments were performed for a trajectory of a mobile robot. Experimental results show that the proposed vision/DR integrated navigation system gives better navigation performance than a vision/DR integrated navigation system using only distance between wheels of the vehicle.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.774-781
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• 2013

The purpose of this paper is to design a DVL-RPM based VKF (Velocity Kalman Filter) design for a performance improvement underwater integrated navigation system. The proposed approach relies on a VKF, augmented by a altitude from Echo-sounder based switching architecture to yield robust performance, even when DVL (Doppler Velocity Log) exceeds the measurement range and the measured value is unable to be valid. The proposed approach relies on two parts: 1) Indirect feedback navigation Kalman filter design, 2) VKF design. To evaluate proposed method, we compare the results of the VKF aided navigation system with simulation result from a PINS (Pure Inertial Navigation System) and conventional INS-DVL method. Simulations illustrate the effectiveness of the underwater navigation system assisted by the additional DVL-RPM based VKF in underwater environment.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.10
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• pp.982-988
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• 2006

The errors of INS (Inertial Navigation System) are known to grow in time. To compensate the accumulated errors, measurements of external or onboard sensors are extensively utilized to form an integrated navigation system. Recently, INS/GPS integrated navigation systems have become popular since exact position and velocity information can be utilized by low cost GPS receivers. Unfortunately, this configuration cannot be trusted at all times especially when there are intentional or unexpected jammings and interruptions. To aid INS irrespectively of these cases, an INS/Image sensor integrated navigation system configuration is designed only based on the information of image sensor gimble angles. The performance of the INS/Image sensor integrated navigation system is evaluated by Monte Carlo simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.7
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• pp.674-680
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• 2010

It is known that many insects and animals can return to their nest after exploration, with their own specific homing mechanisms. Their homing navigation methods have been applied to the robotic navigation. In this paper, we test the sector-based image matching method motivated by the honeybee's landmark navigation behaviour. Here, our robotic approach uses the reference compass to identify the current head direction and the relative angular position of landmarks for the navigation. The robot shows desirable homing behaviors if the robot is surrounded by landmarks. The result of robot experiment is in good agreement with that of simulation.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1001-1006
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• 2003

This paper presents the pedestrian navigation algorithm and the error compensation filter. The pedestrian navigation system (PNS) consists of the MEMS inertial sensors, the fluxgate, and the small-size GPS receiver. PNS calculates the navigational information using the signal patterns of the accelerometers. And the navigational information is completed by integration of the patterns, the fluxgate, and the GPS information. In general, PNS can provide the better solution than the low-cost inertial navigation system.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.7
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• pp.617-624
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• 2010

This article describes the system architecture of KUVE (KIST Unmanned Vehicle Electric) and unmanned autonomous navigation of it in KIST. KUVE, which is an electric light-duty vehicle, is equipped with two laser range finders, a vision camera, a differential GPS system, an inertial measurement unit, odometers, and control computers for autonomous navigation. KUVE estimates and tracks the boundary of road such as curb and line using a laser range finder and a vision camera. It follows predetermined trajectory if there is no detectable boundary of road using the DGPS, IMU, and odometers. KUVE has over 80% of success rate of autonomous navigation in KIST.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.451-459
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• 2011

Fundamentally, there are 5 systems are needed for autonomous navigation of unmanned ground vehicle: Localization, environment perception, path planning, motion planning and vehicle control. Path planning and motion planning are accomplished based on result of the environment perception process. Thus, high reliability of localization and the environment perception will be a criterion that makes a judgment overall autonomous navigation. In this paper, via map matching using vehicle dynamic model and LIDAR sensors, replace high price localization system to new one, and have researched an algorithm that lead to robust autonomous navigation. Finally, all results are verified via actual unmanned ground vehicle tests.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.2_2
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• pp.359-370
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• 2023

For a vehicle to follow a reference path accurately, its position must be estimated accurately and reliably. In this paper, we propose a lateral control algorithm for autonomous navigation of a vehicle via USAT(Ultrasonic Satellite System), which is an absolute position measurement system using an ultrasonic wave and INS(Inertial Navigation System) integration. In order to estimate the vehicle's parameters, a J-turn test is used. And the autonomous navigation performances of proposed lateral control algorithm and validity of proposed lateral control algorithm are verified and evaluated by simulation and experiments.